From c94755c847ce122e2da727ce58c3171a11896879 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Feb 2015 01:14:29 +0100 Subject: PX4IO Firmware: Support 16 output channels --- src/modules/px4iofirmware/mixer.cpp | 6 ++++-- src/modules/px4iofirmware/px4io.h | 3 ++- 2 files changed, 6 insertions(+), 3 deletions(-) (limited to 'src/modules') diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 66f0969de..835dfc0f5 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -272,8 +272,9 @@ mixer_tick(void) if (mixer_servos_armed && should_arm) { /* update the servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) { up_pwm_servo_set(i, r_page_servos[i]); + } /* set S.BUS1 or S.BUS2 outputs */ @@ -285,8 +286,9 @@ mixer_tick(void) } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) { up_pwm_servo_set(i, r_page_servo_disarmed[i]); + } /* set S.BUS1 or S.BUS2 outputs */ if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 93a33490f..df2633cc5 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -51,7 +51,8 @@ /* * Constants and limits. */ -#define PX4IO_SERVO_COUNT 8 +#define PX4IO_SERVO_COUNT 16 +#define PX4IO_SERVO_HARDWARE_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 #define PX4IO_CONTROL_GROUPS 4 #define PX4IO_RC_INPUT_CHANNELS 18 -- cgit v1.2.3